FSR based force torque transducer design
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Authors
Gunzel, Charles A.
Subjects
Force Control
Force-Torque Transducer
Force Sensing Resistor
Joystick
Force-Torque Transducer
Force Sensing Resistor
Joystick
Advisors
Driels, Morris R.
Date of Issue
1993-06
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
This thesis report discusses the design, construction and calibration of two force-torque transducers for use in a force control override of a rate control system. Pre-loaded force sensing resistors were used in a computer model to determine the 6-umber and location of sensors necessary to resolve three forces and three moments. An analysis was conducted on this full order model to determine redundancy limits. A reduced order model was then used to determine the sensor configuration required to resolve three forces and only one moment. Prototypes of the reduced order model were then built in two different sizes, and used to sense and display applied forces and moments
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funding
Format
122 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.